Method and apparatus for enhanced autonomous GPS

ABSTRACT

Method and apparatus for locating position of a remote receiver is described. In one example, long term satellite tracking data is obtained at a remote receiver. Satellite positioning system (SPS) satellites are detected. Pseudoranges are determined from the remote receiver to the detected SPS satellites. Position of the remote receiver is computed using the pseudoranges and the long term satellite tracking data. SPS satellites may be detected using at least one of acquisition assistance data computed using a previously computed position and a blind search. Use of long term satellite tracking data obviates the need for the remote receiver to decode ephemeris from the satellites. In addition, position of the remote receiver is computed without obtaining an initial position estimate from a server or network.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. patent applicationSer. No. 10/674,267, filed Sep. 29, 2003 now U.S. Pat. No. 7,158,080,which claims benefit of U.S. provisional patent application Ser. No.60/415,364, filed Oct. 2, 2002. Each of the aforementioned relatedpatent applications is herein incorporated by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention generally relates to a position location systemand, more particularly, to using long term satellite tracking data in aremote receiver.

2. Description of the Related Art

Global Positioning System (GPS) receivers use measurements from severalsatellites to compute position. GPS receivers normally determine theirposition by computing time delays between transmission and reception ofsignals transmitted from satellites and received by the receiver on ornear the surface of the earth. The time delays multiplied by the speedof light provide the distance from the receiver to each of thesatellites that are in view of the receiver. The GPS satellites transmitto the receivers satellite-positioning data, so called “ephemeris” data.In addition to the ephemeris data, the satellites transmit to thereceiver absolute time information associated with the satellite signal,i.e., the absolute time signal is sent as a second of the week signal.This absolute time signal allows the receiver to unambiguously determinea time tag for when each received signal was transmitted by eachsatellite. By knowing the exact time of transmission of each of thesignals, the receiver uses the ephemeris data to calculate where eachsatellite was when it transmitted a signal. Finally, the receivercombines the knowledge of satellite positions with the computeddistances to the satellites to compute the receiver position.

More specifically, GPS receivers receive GPS signals transmitted fromorbiting GPS satellites containing unique pseudo-random noise (PN)codes. The GPS receivers determine the time delays between transmissionand reception of the signals by comparing time shifts between thereceived PN code signal sequence and internally generated PN signalsequences.

Each transmitted GPS signal is a direct sequence spread spectrum signal.The signals available for commercial use are provided by the StandardPositioning Service. These signals utilize a direct sequence spreadingsignal with a 1.023 MHz spread rate on a carrier at 1575.42 MHz (the L1frequency). Each satellite transmits a unique PN code (known as the C/Acode) that identifies the particular satellite, and allows signalstransmitted simultaneously from several satellites to be receivedsimultaneously by a receiver with very little interference of any onesignal by another. The PN code sequence length is 1023 chips,corresponding to a 1 millisecond time period. One cycle of 1023 chips iscalled a PN frame. Each received GPS signal is constructed from the1.023 MHz repetitive PN pattern of 1023 chips. At very low signallevels, the PN pattern may still be observed, to provide unambiguoustime delay measurements, by processing, and essentially averaging, manyPN frames. These measured time delays are called “sub-millisecondpseudoranges”, since they are known modulo the 1 millisecond PN frameboundaries. By resolving the integer number of milliseconds associatedwith each delay to each satellite, then one has true, unambiguous,pseudoranges. The process of resolving the unambiguous pseudoranges isknown as “integer millisecond ambiguity resolution”.

A set of four pseudoranges together with the knowledge of the absolutetimes of transmissions of the GPS signals and satellite positions atthose absolute times is sufficient to solve for the position of the GPSreceiver. The absolute times of transmission are needed in order todetermine the positions of the satellites at the times of transmissionand hence to determine the position of the GPS receiver. GPS satellitesmove at approximately 3.9 km/s, and thus the range of the satellite,observed from the earth, changes at a rate of at most ±800 m/s. Absolutetiming errors result in range errors of up to 0.8 m for each millisecondof timing error. These range errors produce a similarly sized error inthe GPS receiver position. Hence, absolute time accuracy of 10 ms issufficient for position accuracy of approximately 10 m. Absolute timingerrors of much more than 10 ms will result in large position errors, andso typical GPS receivers have required absolute time to approximately 10milliseconds accuracy or better.

It is always slow (no faster than 18 seconds), frequently difficult, andsometimes impossible (in environments with very low signal strengths),for a GPS receiver to download ephemeris data from a satellite. Forthese reasons, it has long been known that it is advantageous to sendsatellite orbit and clock data to a GPS receiver by some other means inlieu of awaiting the transmission from the satellite. This technique ofproviding satellite orbit and clock data, or “aiding data”, to a GPSreceiver has become known as “Assisted-GPS” or A-GPS.

In one type of A-GPS system, the GPS receiver measures and transmitspseudoranges to a server and the server locates position of the GPSreceiver. Such a system is referred to herein as a “mobile-assisted”system. In a mobile-assisted system, for each position computation,there are four transactions between the GPS receiver and the server: arequest for assistance from the receiver to the server, transmission ofaiding information from the server to the receiver, transmission ofpseudorange measurements from the receiver to the server, and finallytransmission of position from the server to the receiver. In mostmobile-assisted systems, a new request and new aiding information aresent for each new position, since the assistance data is only valid fora short period of time (e.g., minutes). Thus, for mobile-assistedsystems, the total time to fix position is deleteriously affected by thenumber of transactions between the receiver and the server. In addition,if the receiver roams beyond the service area of the network thatdelivers the assistance data, the receiver must acquire satellitesignals and compute position autonomously, assuming the receiver is evencapable of autonomous operation.

In another type of A-GPS system, the GPS receiver locates its ownposition using assistance data from a server. Such a system is referredto herein as a “mobile-based” system. In a mobile-based system, for eachposition computation, there are up to two transactions between thereceiver and the server: the receiver requests assistance from theserver and the server sends aiding information to the receiver. Theposition is computed inside the receiver using the aiding information.In conventional mobile-based systems, the aiding information isephemeris data valid between 2 to 4 hours. That is, the ephemeris datais the same data as broadcast by the satellites. Thus, for conventionalmobile-based systems, the total time to fix position may bedeleteriously affected if the receiver must compute position outside ofthe 2-to-4 hour period during which the aiding data is valid, sincefurther transactions between the receiver and the server are required.In addition, if the receiver roams beyond the service area of thenetwork that delivers the assistance data for a period longer than2-to-4 hours, the receiver must acquire satellite signals and computeposition autonomously.

Therefore, there exists a need in the art for a method and apparatusthat uses satellite tracking data in a remote receiver in a manner thatminimizes the number of transactions between the receiver and a serverand allows for extended operation outside of the service area of thenetwork.

SUMMARY OF THE INVENTION

A method and apparatus for using long term satellite tracking data in aremote receiver is described. In one embodiment of the invention, longterm satellite tracking data is received at a remote receiver from aserver. For example, the long term satellite tracking data may includesatellite orbit, satellite clock, or satellite orbit and clockinformation that is valid for a period of at least six hours into thefuture. The long term satellite tracking data may be generated at theserver using satellite tracking information obtained from a referencenetwork, satellite control station, or both. For example, the long termsatellite tracking data may be generated using blocks of satellite orbitand/or clock models, such as ephemeris data.

The long term satellite tracking data is used to compute acquisitionassistance data in the remote receiver. For example, acquisitionassistance data may comprise expected Doppler shifts for satellitesignals transmitted by satellites in view of the remote receiver. TheDoppler shifts may be computed using an estimated position, an estimatedtime of day, and the long term satellite tracking data. The remotereceiver then uses the acquisition assistance data to acquire satellitesignals. The acquired satellite signals may be used to locate positionof the remote receiver.

In another embodiment, long term satellite tracking data is obtained ata remote receiver. Satellite positioning system (SPS) satellites aredetected. Pseudoranges are determined from the remote receiver to thedetected SPS satellites. Position of the remote receiver is computedusing the pseudoranges and the long term satellite tracking data. In oneembodiment, SPS satellites are detected using at least one ofacquisition assistance data computed using a previously computedposition and a blind search. Use of long term satellite tracking dataobviates the need for the remote receiver to decode ephemeris from thesatellites. In addition, position of the remote receiver is computedwithout obtaining an initial position estimate from a server or network.

BRIEF DESCRIPTION OF THE DRAWINGS

So that the manner in which the above recited features of the presentinvention can be understood in detail, a more particular description ofthe invention, briefly summarized above, may be had by reference toembodiments, some of which are illustrated in the appended drawings. Itis to be noted, however, that the appended drawings illustrate onlytypical embodiments of this invention and are therefore not to beconsidered limiting of its scope, for the invention may admit to otherequally effective embodiments.

FIG. 1 is a block diagram depicting an exemplary embodiment of aposition location system;

FIG. 2 is a block diagram depicting an exemplary embodiment of satellitetracking data;

FIG. 3 is a block diagram depicting an exemplary embodiment of a remotereceiver;

FIG. 4 is a block diagram depicting an exemplary embodiment of a server;

FIG. 5 is a flow diagram depicting an exemplary embodiment of a processfor automatically transmitting satellite tracking data to a remotereceiver;

FIGS. 6A through 6C depict a flow diagram of an exemplary embodiment ofa process for locating position of a remote receiver using long termsatellite tracking data;

FIG. 7 is a flow diagram depicting an exemplary embodiment of a processfor estimating a position of a remote receiver;

FIG. 8 is a flow diagram depicting another exemplary embodiment of amethod for locating position of a remote receiver in accordance with theinvention;

FIG. 9 is a flow diagram depicting an exemplary embodiment of a methodfor locating position of a remote receiver using a blind searchtechnique in accordance with the invention;

FIG. 10 is a flow diagram depicting another exemplary embodiment of amethod for locating position of a remote receiver using a blind searchtechnique in accordance with the invention; and

FIG. 11 is a flow diagram depicting yet another exemplary embodiment ofa method for locating position of a remote receiver using a blind searchtechnique in accordance with the invention.

To facilitate understanding, identical reference numerals have beenused, wherever possible, to designate identical elements that are commonto the figures.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 is a block diagram depicting an exemplary embodiment of aposition location system 100. The system 100 comprises a server 102 anda plurality of remote receivers 104, illustratively, a remote receiver104 ₁, a remote receiver 104 ₂, and a remote receiver 104 ₃. The remotereceivers 104 measure pseudoranges to a plurality of satellites 106 in aconstellation of satellites to locate position. For example, the remotereceivers 104 may measure pseudoranges to a plurality of globalpositioning system (GPS) satellites in the GPS constellation. The server102 distributes data representative of satellite trajectory information,satellite clock information, or both to facilitate operation of theremote receivers 104 (“satellite tracking data”). Notably, the remotereceivers 104 may use the satellite tracking data to assist in acquiringsatellite signals and/or compute position.

The server 102 may distribute the satellite tracking data to the remotereceivers 104 using a communication link, such as a wirelesscommunication system 108 or a network 110. For example, the remotereceiver 104 may be located in a service area 112 of the wirelesscommunication system 108. In one embodiment of the invention, satellitetracking data may be transmitted to the remote device 104, through awireless link 114 between the remote device 104, and a basestation 116located within the service area 112 of the wireless communication system108. For example, the wireless communication system 108 may be acellular telephone network, the service area 112 may be a cell site, andthe basestation 116 may be a cell tower servicing the cell site. Inanother embodiment, satellite tracking data may be provided by theserver 102 to the network 110 and transmitted to the remote receiver 104₂. For example, the remote receiver 104 ₂ may download satellitetracking data from the Internet. In some cases, one or more of theremote receivers 104 (e.g., the remote receiver 104 ₃) may not becapable of receiving satellite tracking data from the server 102. Forexample, the remote receiver 104 ₃ may roam outside of the service area112 and may not be capable of connecting to the wireless communicationsystem 108. In addition, the remote receiver 104 ₃ may not be able toconnect to the network 110. As described in detail below, the satellitetracking data distributed to the remote receivers 104 by the server 102is valid for a long time as compared to standard broadcast ephemeris(e.g., two to four days). As such, the remote receiver 104 ₃ maycontinue to operate for a significant duration despite theunavailability of a connection to the server 102.

The satellite tracking data may be generated using various types ofsatellite measurement data (“satellite tracking information”). Inparticular, the server 102 receives satellite tracking information froman external source, such as a network of tracking stations (“referencenetwork 118”) or a satellite control station 120, or both. The referencenetwork 118 may include several tracking stations that collect satellitetracking information from all the satellites in the constellation, or afew tracking stations, or a single tracking station that only collectssatellite tracking information for a particular region of the world. Thesatellite tracking information received from the reference network 118includes, for example, at least one of satellite ephemeris, code phasemeasurements, carrier phase measurements, and Doppler measurements. Anexemplary system for collecting and distributing ephemeris data using areference network is described in U.S. Pat. No. 6,411,892, issued Jun.25, 2002, which is incorporated by reference herein in its entirety. Theserver 102 may receive satellite tracking information (e.g., ephemeris)from the satellite control station 120 (e.g., the Master Control Stationin GPS) via a communication link 122. An exemplary system for obtainingephemeris information directly from a satellite control station isdescribed in U.S. patent application Ser. No. 10/081,164, filed Feb. 22,2002, which is incorporated by reference herein in its entirety.

The server 102 generates satellite tracking data for distribution to theremote receivers 104 using the satellite tracking information receivedfrom the reference network 118 and/or the satellite control station 120.The satellite tracking data generated by the server 102 comprisessatellite trajectory data, satellite clock data, or both. The satellitetracking data is valid for a long period of time as compared to theephemeris data broadcast by the satellites 106. In one embodiment of theinvention, the satellite trajectory data is valid for at least sixhours. In another embodiment, the satellite trajectory data is valid forup to four days. As such, the satellite tracking data delivered to theremote receivers 104 may be referred to herein as “long term satellitetracking data” in order to distinguish such data from the broadcastephemeris, which is typically only valid between 2 and 4 hours. Anexemplary system for generating satellite tracking data is described inU.S. Pat. No. 6,542,820, issued Apr. 1, 2003, which is incorporated byreference herein in its entirely.

FIG. 2 is a block diagram depicting an exemplary embodiment of satellitetracking data 200. The satellite tracking data 200 includes a pluralityof models 202 ₁ through 202 _(N) (collectively referred to as models202), where N is an integer greater than or equal to one. Each of themodels 202 is valid for a particular period of time into the future(e.g., six hours in the present embodiment). Each of the models 202includes satellite trajectory data, satellite clock data, or both. Thesatellite trajectory data portion of each of the models 202 may includeone or more of data representative of satellite positions, satellitevelocities, and satellite accelerations. The satellite clock dataportion of each of the models 202 may include one or more of datarepresentative of satellite clock offsets, satellite clock drifts, andsatellite clock drift rates. In one embodiment of the invention, each ofthe models 202 includes ephemeris data collected from the referencenetwork 118 and/or the satellite control station 120. In anotherembodiment, each of the models 202 may be in some other format forrepresenting orbital parameters and/or clock parameters. Exemplarymodels for the satellite tracking data are described in U.S. Pat. No.6,542,820.

The satellite tracking data 200 is defined by N sequential blocks ofsatellite orbit and/or clock data (i.e., the N models 202). For purposesof clarity by example, each of the models 202 is valid for a period ofsix hours and thus the satellite tracking data is valid for a 6N hours.It is to be understood, however, that each of the models 202 may bevalid for other durations. For example, satellite tracking data validfor four days may be generated using 16 sequential ones of the models202.

Returning to FIG. 1, in one embodiment of the invention, the satellitetracking data generated by the server 102 is associated with all thesatellites in the constellation. Thus, no matter where the remotereceivers 104 compute position, the remote receivers 104 will have thecorrect information for the satellites that are in view. In anotherembodiment, the satellite tracking data generated by the server 102 isassociated with only the satellites that will be visible in a particularregion (e.g., country of operation of the remote receivers 104) duringthe period of validity of the orbit and clock data therein. For example,as described above, the satellite tracking data may be formed from 16sequential 6-hour orbit and/or clock models covering a total of fourdays into the future. For some of these 6-hour periods, some satelliteswill not be visible anywhere in the country of operation of the remotereceivers 104 and the server 102 can be configured to remove theseparticular models from the satellite tracking data before the satellitetracking data is distributed to the remote devices 104. Since the server102 provides satellite tracking data for all possible satellites (e.g.,all the satellite in the constellation or all satellites visible in aparticular region), the data is not dependent on the position of theremote receivers 104 at the time of delivering the satellite trackingdata, so long as the remote receivers are somewhere in the particularregion.

FIG. 3 is a block diagram depicting an exemplary embodiment of a remotereceiver 300. The remote receiver 300 may be used as any of the remotereceivers 104 shown in FIG. 1. The remote receiver 300 illustrativelycomprises a satellite signal receiver 302, a wireless transceiver 304, amicrocontroller 306, a memory 308, a modem 310, and a clock 311. Thesatellite signal receiver 302 receives satellite signals via an antenna312. The satellite signal receiver 302 processes the satellite signalsto form pseudoranges in a well-known manner. An exemplary assisted-GPSsignal receiver is described in U.S. Pat. No. 6,453,237, issued Sep. 17,2002, which is incorporated by reference herein in its entirety. Theclock 311 may be used to establish an estimated time of day.

The memory 300 may be random access memory, read only memory, removablestorage, hard disc storage, or any combination of such memory devices.The memory 308 may store satellite tracking data 316 that can be used toassist in the acquisition of satellite signals or the computation ofposition or both. The satellite tracking data 316 may be received via anantenna 314 using the wireless transceiver 304, or via a computernetwork (e.g., Internet) using the modem 310. The memory 300 may alsostore a table of positions (“table 318”). The table 318 may include anyrecently computed positions of the remote receiver 400 and/or anypositions of basestations or cell sites with which the remote receiver300 has recently communicated. The table 318 may be used to establish anestimated position of the remote receiver 300. As described below, anestimated position of the remote receiver 300 and an estimated time ofday may be used to generate data to assist in the acquisition of thesatellite signals from the satellite tracking data 316 (“acquisitionassistance data” 320).

FIG. 4 is a block diagram depicting an exemplary embodiment of theserver 400. The server 400 may be used as the server 102 shown inFIG. 1. The server 400 illustratively comprises a central processingunit (CPU) 402, input/output (I/O) circuits 404, support circuits 406,and a memory 408. The support circuits 406 comprise well-known circuitsthat facilitate operation of the CPU 402, such as clock circuits, cache,power supplies, and the like. The memory 408 may be random accessmemory, read only memory, removable storage, hard disc storage, or anycombination of such memory devices.

Satellite tracking information 410 (e.g., ephemeris, code phasemeasurements, carrier phase measurements, Doppler measurements) isreceived from an external source of such information (e.g., referencenetwork and/or satellite control station) using the I/O circuits 404 andstored in the memory 408. The server 400 uses the satellite trackinginformation 410 to compute long term satellite tracking data for use byremote devices. The I/O circuits 404 may also be coupled to a celldatabase 412. The cell database 412 stores a database of identificationindicia (“cell ID”) for various basestations or cell sites of a wirelesscommunication system along with the positions of the basestations orcell sites. As described below, basestation or cell site position may beused as an approximate position of the remote receiver. Alternatively,an approximate position of the remote receiver may be determined using atransition between cell sites or basestations, a last known location, orthe like.

The I/O circuits 404 may also be coupled to a device database 414. Thedevice database 414 may be used to keep track of when particularsatellite tracking data was distributed to which remote receiver andwhen such satellite tracking data will expire. Using the device database414, the server 400 can determine when to update the remote receiverswith new satellite tracking data. An exemplary process for transmittingsatellite tracking data to a remote receiver is described below.

Satellite tracking data may be delivered to the remote receivers inresponse to requests from the remote receivers. For example, a user of aremote receiver may manually request satellite tracking data from theserver, or may initiate a position computation that requires satellitetracking data. Satellite tracking data may also be deliveredautomatically to the remote receivers. FIG. 5 is a flow diagramdepicting an exemplary embodiment of a process 500 for automaticallytransmitting satellite tracking data to a remote receiver. The process500 may be executed by either the server or the remote receiver. Thatis, the remote receiver may determine when it needs satellite trackingdata or the server may determine when the remote receiver needssatellite tracking data.

The process 500 begins at step 502, where the time elapsed since thelast satellite tracking data transaction is determined. At step 504, adetermination is made as to whether the elapsed time exceeds apredetermined threshold. The threshold may be a percentage of thevalidity period of the satellite tracking data. For example, if thesatellite tracking data is valid for four days, the threshold may be setas two days. Thus, if two days have elapsed since the last satellitetracking data transaction, the threshold has been exceeded. If thethreshold has been exceeded, the process 500 proceeds to step 506.Otherwise, the process 500 returns to step 502.

At step 506, a determination is made as to whether a connection to theserver is available. For example, a connection to the server may not beavailable if the remote receiver is powered off or has roamed outside ofthe service area of the system. If a connection is available, theprocess 500 proceeds to step 508.

At step 508, new satellite tracking data is scheduled to be transmittedto the remote receiver during a low traffic period. Since the thresholdof step 504 is set to a percentage of the validity period of thesatellite tracking data, the remote receiver does not immediatelyrequire new satellite tracking data, as the currently stored satellitetracking data remains valid. Thus, new satellite tracking data may besent to the remote receiver using either a wireless communication systemor other network during a period of low activity on such network.

If, at step 506, a connection is unavailable, the process 500 proceedsto step 510. At step 510, a determination is made as to whether theelapsed time has exceeded the validity period of the satellite trackingdata. If not, the process 500 proceeds to step 508 described above. Thatis, the server will schedule a transmission of new satellite trackingdata to the remote receiver during a low traffic period. Since thethreshold of step 504 is set to a percentage of the validity period ofthe satellite tracking data, the remote receiver does not immediatelyrequire new satellite tracking data. The remote receiver may continue tooperate using valid satellite tracking data until a connection becomesavailable, at which time new satellite tracking data may be sent duringa low traffic period.

If, at step 510, the elapsed time has exceeded the validity period ofthe satellite tracking data, the process 500 proceeds to step 512. Atstep 512, new satellite tracking data is scheduled to be transmitted tothe remote receiver when a connection becomes available. That is, whenthe remote device again connects to the system, the new satellitetracking data may be uploaded to the remote device.

As such, all remote receivers will have valid satellite tracking datafor almost all of the time that they are capable of connecting to theserver. In addition, almost all of the remote receivers will immediatelybenefit from assisted-GPS operation when they require a location fix,without having to make a request for satellite tracking data or wait forsatellite tracking data to be delivered. Thus, the number of servertransactions is minimized. Remote receivers that are not capable ofconnecting to the server may continue to operate using the satellitetracking data for an extended period of time (e.g., four days) whiledisconnected from the server. In addition, the satellite tracking datais independent of the precise time at which the remote receivers willuse it.

FIGS. 6A through 6C depict a flow diagram of an exemplary embodiment ofa process 600 for locating position of a remote receiver using long termsatellite tracking data. The process 600 begins at step 602, where thetime elapsed since the last satellite tracking data transaction isdetermined. At step 604, a determination is made as to whether thevalidity period of the satellite tracking data has been exceeded. Forexample, the satellite tracking data may be valid for four days. If thesatellite tracking data is invalid, the process proceeds to step 606.Otherwise, the process 600 proceeds to step 610.

At step 606, a determination is made as to whether a connection betweenthe server and the remote receiver is available. If not, the process 600proceeds to step 608, where the connection is flagged as unavailable.Otherwise, the process 600 proceeds to step 607. At step 607, newsatellite tracking data is requested and received from the server at theremote receiver. At step 609, the stored satellite tracking data isupdated with the new satellite tracking data. The process then proceedsto step 610.

At step 610, time of day is determined. In one embodiment, an estimatedtime of day may be determined using a clock within the remote receiver.At step 612, a position of the remote receiver is estimated. At step614, acquisition assistance data is computed using the time of day,estimated position, and the stored satellite tracking data (or Almanacdata). The acquisition assistance data aids the remote receiver inacquiring satellite signals. In one embodiment, the acquisitionassistance data comprises predicted Doppler shifts for each satellite inview of the remote receiver. In GPS, all of the satellite signals leavethe satellites at the same frequency of exactly 1575.42 MHz. Thefrequency of the satellite signals observed at the remote receiver,however, will be shifted ±4.5 KHz due to relative satellite motion. Asatellite rising over the horizon exhibits a Doppler shift up to 4.5 KHzhigher, a setting satellite exhibits a Doppler shift up to 4.5. KHzlower, and a satellite at its zenith (the highest point in the sky fromthe point of view of the remote receiver) will exhibit no Doppler shift.

The remote receiver may use the position estimate, the time of day, andthe stored satellite tracking data (or Almanac data) to compute Dopplershifts relative to the estimate position of the remote receiver. Asdescribed above, in one embodiment, the satellite tracking data isprovided in the form of blocks of ephemeris data. If such satellitetracking data is used, the computation of Doppler shifts at the estimateposition and time of day is performed in a conventional manner. Theacquisition assistance data provides a window or range of uncertaintyaround the expected Doppler shifts. The size of the uncertainty rangedepends on the accuracy of the initial estimate of position and the timeof day. The time of day has little impact on the size of the uncertaintyrange and may be in error by a few seconds of GPS time. The estimate ofposition has a greater effect on the uncertainty range. If the positionestimate is within approximately 10 km of the true position of theremote receiver, then the Doppler range may be +10 Hz. If the positionestimate is within a wide area of the true position (e.g., within aparticular country of operation or within 3000 km), then the Dopplerrange may be ±3000 Hz. An exemplary process for estimated the positionof the remote receiver is described below. As is well known in the art,the search range for Doppler must also include the uncertainty of thelocal reference frequency in the remote receiver.

At step 616, satellite signals are acquired at the remote receiver usingthe acquisition assistance data. In one embodiment, the remote receiversearches for the satellite signals within the frequency range defined bythe acquisition assistance data and local frequency reference. The timeit takes to acquire the necessary satellite signals in order to computean initial position (“time to first fix”) depends on the size of thefrequency window. A smaller frequency window yields a faster time tofirst fix.

At step 618, a determination is made as to whether the connection hasbeen flagged as unavailable. If not, the process 600 proceeds to step624, where position of the remote receiver is computed using the storedsatellite tracking data. If the connection is flagged as unavailable atstep 608, the process proceeds to step 620. At step 620, ephemeris isdecoded from the acquired satellite signals. While invalid or “old”satellite tracking data, or satellite almanac data, may be used tocompute the acquisition assistance data at step 614, such expired orimprecise satellite tracking data may not be used in order to computeposition of the remote receiver. As such, if the stored satellitetracking data is expired and the remote receiver cannot connect to theserver to obtain new satellite tracking data, then the remote receivermust decode the satellite signals to obtain ephemeris information. Atstep 622, position of the remote receiver may be computed using theephemeris information.

FIG. 7 is a flow diagram depicting an exemplary embodiment of a process700 for estimating a position of a remote receiver. The process 700 maybe used in the step 612 of the process 600 as the primary estimationtechnique. Those skilled in the art will appreciate that other positionestimation techniques may be used that are known in the art, such asusing transitions between cell cites or basestations of the remotereceiver or using a last known location of the remote receiver. Theprocess 700 begins at step 702, where the cell ID for the cell site inwhich the remote receiver is currently operating (“active cell site”) isdetermined. If there is no cell ID, or there is no active cell site, theprocess 700 proceeds to step 706. Otherwise, the process 700 proceeds tostep 704.

At step 704, a determination is made as to whether the cell position isin a table stored within the remote receiver. That is, the remotereceiver may use the cell ID to index a table of positions to identifythe position of the active cell site. If a position associated with theactive cell site is in the table, the process 700 proceeds to step 708,where an estimated position of the remote receiver and an uncertainty inthe estimated position is output. If the cell position is not in thetable, the process 700 proceeds to step 706.

At step 706, there is either no cell ID (e.g., the remote receiver isnot operating within the service area of the wireless communicationsystem) or there is no position associated with the cell ID stored inthe table. Thus, a determination is made as to whether there has been arecent position fix. For example, a recent position fix may be a computeposition less than three minutes old. Note that, in three minutes, ifthe remote receiver is traveling less than 200 km/h, then the remotereceiver could have moved no more than 10 km. This is within the rangeof approximate position uncertainty that the remote receiver wouldobtain if using a position of a cell site. If there is a recent positionfix, the process 700 proceeds to step 708, where the recent position fixis used as the estimated position and the estimated position anduncertainty is output. In addition, the position table may be updatedwith the recent position at step 710.

If there is no recent position fix at step 706, the process 700 proceedsto step 712. At step 712, a determination is made as to whether aconnection between the server and the remote receiver is available. Ifnot, the process 700 proceeds to step 718, where the position estimateis set to a wide area (e.g., country or region of operation). Theprocess 700 proceeds from step 718 to step 708, where the positionestimate and uncertainty are output.

If at step 712 a connection between the server and the remote receiveris present, the process 700 proceeds to step 714. At step 714, aposition of the active cell site is requested from the server. Theremote receiver may send the cell ID to the server if the cell ID hasbeen obtained. At step 716, if a position is returned from the server,the process proceeds to step 708, where the position estimate anduncertainty are output. In addition, the position table may be updatedat step 710 with the newly returned position of the particular activecell site. If at step 716 the position is not returned from the server,the process 700 proceeds to step 718, where the position estimate is setto a wide area.

By using a table of positions and utilizing recent position fixes, theremote receivers avoid unnecessary transactions with the server. Thus,rather than requesting a position for an active cell site using the cellID, the remote receivers first determine if the information is storedlocally.

A method and apparatus for using long term satellite tracking data hasbeen described. In one embodiment of the invention, the long termsatellite tracking data contains satellite orbit and/or clock data thatis valid for a period between two and four days. Thus, remote receiversmay continue to operate for up to four days without connecting to aserver to receive updated information. If a remote receiver is notcapable of connecting to the server (e.g., the remote receiver roamsoutside the service area of the network), the remote receiver maycontinue to use the long term satellite tracking data until the remotereceiver is once again capable of connecting to the network. As such,the only transactions between the server and a remote device occurs onceevery two to four days, or when the remote device requires a position ofa cell site or basestation from the server.

Having obtained the long term satellite tracking data, the remotereceiver may acquire satellite signals, determine pseudoranges toacquired satellites, and compute position using the pseudoranges and thelong term satellite tracking data. The remote receiver may also use thelong term satellite tracking data along with a position estimate and atime estimate to produce acquisition assistance data (e.g., expectedDoppler shifts) to assist in the satellite signal acquisition process.Such a process is described above with respect to FIG. 6. In oneembodiment, the position estimate is obtained from the network (e.g.,using cell ID).

In some cases, however, the remote receiver may not be able to obtain aninitial position from the network in order to compute acquisitionassistance data. For example, the remote receiver may be operatingautonomously and outside the service area of the network. Thus, inanother embodiment of the invention, the remote receiver attempts to usea previously computed position as an initial position for computingacquisition assistance data and determining pseudoranges, rather thanreceiving a position estimate from the network. The remote receiver thencomputes position using the pseudoranges and the long term satellitetracking data. The position is then checked for validity and, ifinvalid, the remote receiver performs a blind search process to computeposition.

In particular, FIG. 8 is a flow diagram depicting another exemplaryembodiment of a method 800 for locating position of a remote receiver inaccordance with the invention. The method 800 is performed withoutobtaining an initial position estimate at the remote receiver form thenetwork. The method 800 begins at step 802. At step 804, long termsatellite tracking data is obtained. For example, the long termsatellite tracking data may be obtained from memory within the remotereceiver. The remote receiver may have received the long term satellitetracking data from the network, as described above with respect to FIG.5. The remote receiver may periodically refresh the long term satellitetracking data, as described above with respect to FIG. 6.

At step 806, a determination is made as to whether a previously computedposition is available. For example, the remote receiver may maintain aposition cache in which computed positions are stored and from which apreviously computed position may be obtained. If a previously computedposition is unavailable, the method 800 proceeds to step 820. At step820, position is computed using a blind search process. Exemplaryembodiments of a blind search process that may be used in step 820 aredescribed below with respect to FIGS. 9-11. The method 800 proceeds tostep 822, where the position is stored for use as a previously computedposition in a next iteration.

If, at step 806, a previously computed position is available, the method800 proceeds to step 808. At step 808, the previously computed positionis used as a position estimate and, together with the long termsatellite tracking data, to compute acquisition assistance data (e.g.,expected Doppler shifts). At step 810, satellite signals from satellitepositioning system (SPS) satellites are acquired at the remote receiverusing the acquisition assistance data.

At step 812, a determination is made as to whether the number ofacquired satellites exceeds a predefined threshold. For example, thethreshold may be two satellites. Thus, more than two satellites areacquired at step 810, the method 800 proceeds to step 814. Otherwise, ifonly two or fewer satellites are acquired at step 810, the method 800proceeds to step 820, where the blind search process is preformed tocompute position.

At step 814, pseudoranges are determined to the detected SPS satellites.The remote receiver may measure sub-millisecond pseudoranges to thedetected SPS satellites using a conventional correlation process. Theinteger millisecond portions of the sub-millisecond pseudoranges arefixed using the previously computed position that is being used as theposition estimate. In one embodiment, the integers may be fixed byrelating the sub-millisecond pseudoranges and expected pseudorangesbetween the previously computed position and estimated satellitepositions derived from the long term satellite tracking data. Anexemplary process for computing pseudorange integers is described incommonly-assigned U.S. Pat. No. 6,734,821, issued May 11, 2004, which isincorporated by reference herein in its entirety.

At step 816, position of the remote receiver is computed using thepseudoranges determined at step 814 and the long term satellite trackingdata obtained at step 804. The position may be computed usingconventional navigation equations. At step 818, a determination is madeas to whether the position computed at step 816 is valid. Notably, theintegrity of the computed position may be determined using variousintegrity checking techniques known in the art. For example, thedifference between the computed position and the previously computedposition that was used as the position estimate may be computed andcompared to a threshold. If the difference exceeds the threshold (e.g.,150 Km), then the computed position is flagged as invalid.Alternatively, a determination may be made as to whether the altitude ofthe computed position is within a reasonable range (e.g., −1 km to 15km). If the altitude is outside the range, the computed position isflagged as being invalid. In another example, a-posteriori residuals maybe formed that are associated with the measured pseudoranges. Thea-posteriori residuals may be analyzed to identify any erroneouspseudoranges. If any of the pseudoranges are found to be erroneous, thecomputed position is deemed to be invalid. An exemplary process foranalyzing a-posteriori residuals is described in U.S. Pat. No.6,734,821, referenced above.

If, at step 818, the computed position is deemed to be invalid, themethod 800 proceeds to step 820, where the blind search process isperformed to compute position. Otherwise, the method 800 proceeds tostep 822, where the computed position is stored for use as a previouslycomputed position in the next iteration. The method 800 ends at step824.

FIG. 9 is a flow diagram depicting an exemplary embodiment of a method900 for locating position of a remote receiver using a blind searchtechnique in accordance with the invention. The method 900 is performedwithout obtaining an initial position estimate at the remote receiverfrom the network. The method 900 begins at step 902. At step 904, ablind search is performed to detect SPS satellites. That is, the remotereceiver searches for satellite signals in a conventional manner withoutthe benefit of acquisition assistance data. At step 906, pseudorangesare determined to the detected SPS satellites. The remote receiver maymeasure sub-millisecond pseudoranges to the detected SPS satellitesusing a conventional correlation process. The integer portions of thesub-millisecond pseudoranges are computed in a well-known manner bydecoding a handover word (HOW) in a satellite navigation streambroadcast by a satellite to obtain a time-of-week (TOW) count value. Atstep 908, position of the remote receiver is computed using thepseudoranges determined at step 906 and the long term satellite trackingdata stored in the remote receiver. The position may be computed usingconventional navigation equations. The method 900 ends at step 910.

Use of the long term satellite tracking data to compute positionobviates the need to decode ephemeris at the remote receiver from thesatellite navigation stream for each satellite to which a pseudorange isdetermined. Since ephemeris does not have to be decoded, the cold startspeed of the remote receiver is increased, particularly if satellitesignals are weak and/or intermittent. Moreover, the method 900 isperformed without the need of an initial position or precise time fromthe network, which allows the method 900 to be performed when the remotereceiver outside the service area of the network. The position computedusing the method 900 may be stored and used as a position estimate tocompute acquisition assistance data in the next position locationcomputation, as described above with respect to FIG. 8.

FIG. 10 is a flow diagram depicting another exemplary embodiment of amethod 1000 for locating position of a remote receiver using a blindsearch technique in accordance with the invention. Similar to the method900 of FIG. 9, the method 1000 may be performed without obtaining aninitial position estimate at the remote receiver from the network. Themethod 1000 begins at step 1002. At step 1004, a blind search isperformed to detect SPS satellites. At step 1006, sub-millisecondpseudoranges are measured to the detected SPS satellites. At step 1008,pseudorange rates are measured at the remote receiver. In oneembodiment, the pseudorange rates may be measured by obtaining Dopplermeasurements. Alternatively, the pseudorange rates may be measured bycomputing the time-derivative of the sub-millisecond pseudoranges.

At step 1010, an estimated position of the remote receiver is computedusing long term satellite tracking data stored in the remote receiverand the pseudorange rates. In one embodiment, this may be doneiteratively applying the following mathematical model:

$\underset{\_}{u} = {\begin{bmatrix}u_{1} \\\vdots \\\; \\u_{n}\end{bmatrix} = {\left\lbrack {\begin{matrix}{{\partial{\overset{.}{\rho}}_{1}}/{\partial x}} \\\vdots \\\; \\{{\partial{\overset{.}{\rho}}_{n}}/{\partial x}}\end{matrix}\begin{matrix}{{\partial{\overset{.}{\rho}}_{1}}/{\partial y}} \\\vdots \\\; \\{{\partial{\overset{.}{\rho}}_{n}}/{\partial y}}\end{matrix}\begin{matrix}{{\partial{\overset{.}{\rho}}_{1}}/{\partial z}} & c \\\vdots & \vdots \\\; & \; \\{{\partial{\overset{.}{\rho}}_{n}}/{\partial y}} & c\end{matrix}} \right\rbrack\begin{bmatrix}x \\y \\z \\f_{c}\end{bmatrix}}}$where u is the vector of pseudorange rate residuals (i.e., thedifference between the measured and expected pseudorange rates), ∂denotes a partial derivative, {dot over (ρ)}_(n) is the nth pseudorangerate, and c denotes the speed of light. The variables x, y, and z arethe updates to an a-priori position. In the present embodiment, there isno provided initial position, thus the above model may be applied withan initial position at the center of the earth and iterated until theupdates converge. The variable f_(c) is the update to the a-priorireference frequency offset in the remote receiver. In one embodiment,the units of f_(c) are seconds/second, the units of c are m/s, and theunits of u are m/s. The expected pseudorange rates and the matrixentries may be computed using the long term satellite tracking data. Thederivation of this model is described in more detail incommonly-assigned U.S. patent application Ser. No. 10/617,559, filedJul. 11, 2003, which is incorporated by reference herein in itsentirety. Further terms, such as time-of-day offset, may be included inthe above-described computation, but since only an approximate positionis required (e.g. to within 10 km), it is sufficient to use approximatetime-of-day in the above calculation when computing the values of u andthe entries in the matrix.

In another embodiment, an estimated position of the remote receiver maybe computed at step 1010 using both the pseudorange rates and thesub-millisecond pseudoranges. Notably, if only two satellites aredetected at step 1004, the remote receiver will not be able to computeposition using only the range rates or only the pseudoranges withoutadditional assistance data. However, since each of the range rates andthe pseudoranges provides an independent measurement, the range ratesand the pseudoranges may be combined to provide sufficient measurementsfor computing position (e.g., four measurements for computing latitude,longitude, altitude, and common mode clock bias). Such a calculation isshown in U.S. patent application Ser. No. 10/617,559, referenced above.

At step 1012, the integer portions of the sub-millisecond pseudorangesmeasured at step 1006 are fixed using the estimated position computed atstep 1010. In one embodiment, the integers may be fixed by relating thesub-millisecond pseudoranges measured at step 1006 and expectedpseudoranges between the position estimate and estimated satellitepositions derived from the long term satellite tracking data. Anexemplary process for computing pseudorange integers is described inU.S. Pat. No. 6,734,821, referenced above.

At step 1014, a determination is made as to whether precise time-of-dayis available at the remote receiver. For example, the remote receivermay obtain precise satellite time by decoding the HOW to obtain the TOWcount message. Alternatively, the remote receiver may initially obtainprecise satellite time from the network and continue to track precisetime thereafter. If precise time-of-day is known at the remote receiver,the method 1000 proceeds to step 1016. At step 1016, position of theremote receiver is computed using the long term satellite tracking dataand the full pseudoranges in a conventional navigation solution. Ifprecise time-of-day is not known at the remote receiver, the method 1000proceeds to step 1018.

At step 1018, position of the remote receiver is computed using the longterm satellite tracking data and the full pseudoranges in a time-freenavigation model. Notably, a mathematical model is used to relate aresidual difference between the actual pseudoranges and expectedpseudoranges to updates of position (e.g., x, y, and z position) andtime (e.g., local clock bias (t_(c)) and time-of-day error (t_(s))). Theexpected pseudoranges are based on the position estimate computed atstep 1010. In one embodiment, the mathematical model may be defined asfollows:

$\begin{matrix}{\underset{\_}{u} = {\begin{bmatrix}u_{1} \\\; \\u_{n}\end{bmatrix} = {\left\lbrack {\begin{matrix}{{\partial\rho_{1}}/{\partial x}} \\\vdots \\{{\partial\rho_{n}}/{\partial x}}\end{matrix}\begin{matrix}{{\partial\rho_{1}}/{\partial y}} \\\vdots \\{{\partial\rho_{n}}/{\partial y}}\end{matrix}\begin{matrix}{{\partial\rho_{1}}/{\partial z}} \\\vdots \\{{\partial\rho_{n}}/{\partial z}}\end{matrix}\begin{matrix}{{\partial\rho_{1}}/{\partial t_{c}}} & {{\partial\rho_{1}}/{\partial t_{s}}} \\\vdots & \vdots \\{{\partial\rho_{n}}/{\partial t_{c}}} & {{\partial\rho_{n}}/{\partial t_{s}}}\end{matrix}} \right\rbrack\begin{bmatrix}x \\y \\z \\t_{c} \\t_{s}\end{bmatrix}}}} \\{= {\left\lbrack {\begin{matrix}{{\partial\rho_{1}}/{\partial x}} \\\vdots \\{{\partial\rho_{n}}/{\partial x}}\end{matrix}\begin{matrix}{{\partial\rho_{1}}/{\partial y}} \\\vdots \\{{\partial\rho_{n}}/{\partial y}}\end{matrix}\begin{matrix}{{\partial\rho_{1}}/{\partial z}} & c & {- {\overset{.}{\rho}}_{1}} \\\vdots & \vdots & \vdots \\{{\partial\rho_{n}}/{\partial z}} & c & {- {\overset{.}{\rho}}_{n}}\end{matrix}} \right\rbrack\begin{bmatrix}x \\y \\z \\t_{c} \\t_{s}\end{bmatrix}}} \\{= {H\underset{\_}{x}}}\end{matrix}$where: u is a vector of pseudorange residuals (the difference betweenthe expected pseudoranges and the actual pseudoranges); and the H matrixcontains the well known line-of-sight vectors (first three columns)relating the position updates (x,y,z) to the pseudorange residuals; awell known column of constants (c the speed of light) relating the localclock bias (t_(c)) to the pseudorange residuals; and a column of rangerates relating the time-of-day error (t_(s)) to the pseudorangeresiduals. For a detailed understanding of the above-describedmathematical model, the reader is referred to U.S. Pat. No. 6,734,821,referenced above. Several iterations of the above-described mathematicalmodel may be executed to converge on a position. The method 1000 ends atstep 1020.

Use of the long term satellite tracking data to compute positionobviates the need to decode ephemeris at the remote receiver from thesatellite navigation stream for each satellite to which a pseudorange isdetermined. Since ephemeris does not have to be decoded, the cold startspeed of the remote receiver is increased, particularly if satellitesignals are weak and/or intermittent. Moreover, the method 1000 isperformed without the need of an initial position or precise time fromthe network, which allows the method 1000 to be performed when theremote receiver outside the service area of the network. The positioncomputed using the method 1000 may be stored and used as a positionestimate to compute acquisition assistance data in the next positionlocation computation, as described above with respect to FIG. 8.

FIG. 11 is a flow diagram depicting yet another exemplary embodiment ofa method 1100 for locating position of a remote receiver using a blindsearch technique in accordance with the invention. Again, the method1100 may be performed without obtaining an initial position estimate atthe remote receiver from the network. The method 1100 begins at step1102. At step 1104, a blind search is performed to detect SPSsatellites. At step 1106, sub-millisecond pseudoranges are determined tothe detected SPS satellites. At step 1108, an a-priori position of theremote receiver is selected from a space of all possible positions.Notably, the space of all possible a-priori positions may be segmented,such as being divided into a 100 km×100 km latitude-longitude grid, withaltitude assigned from a look-up table of topographical altitudes. Atstep 1110, the integer portions of the sub-millisecond pseudoranges arefixed based on the a-priori position estimate. The integer portions maybe fixed using a process similar to that performed in step 1012 of themethod 1000 described above with respect to FIG. 10.

At step 1112, position of the remote receiver is computed using longterm satellite tracking data stored in the remote receiver and the fullpseudoranges. The position may be computed using conventional navigationequations (if precise time is available) or a time-free navigationmodel, as described above with respect to FIG. 10. At step 1114, adetermination is made as to whether the computed position is valid. Thevalidity of the computed position may be estimated as described abovewith respect to step 818 of the method 800. If not, the method 1100returns to step 1108, where another a-priori position is selected fromthe space of possible positions. Otherwise, the method 1100 proceeds tostep 1116. At step 1116, the computed position is output. The method1100 ends at step 1118. The position output using the method 1100 may bestored and used as a position estimate to compute acquisition assistancedata in the next position location computation, as described above withrespect to FIG. 8.

In the preceding discussion, the invention has been described withreference to application upon the United States Global PositioningSystem (GPS). It should be evident, however, that these methods areequally applicable to similar satellite systems, and in particular, theRussian Glonass system, the European Galileo system, and the like, orany combination of the Glonass system, the Galileo system, and the GPSsystem. The term “GPS” used herein includes such alternative satellitepositioning systems, including the Russian Glonass system and theEuropean Galileo system.

Although the methods and apparatus of the invention have been describedwith reference to GPS satellites, it will be appreciated that theteachings are equally applicable to positioning systems that utilizepseudolites or a combination of satellites and pseudolites. Pseudolitesare ground-based transmitters that broadcast a PN code (similar to theGPS signal) that may be modulated on an L-band carrier signal, generallysynchronized with GPS time. The term “satellite”, as used herein, isintended to include pseudolites or equivalents of pseudolites, and theterm “GPS signals”, as used herein, is intended to include GPS-likesignals from pseudolites or equivalents of pseudolites.

While the foregoing is directed to embodiments of the present invention,other and further embodiments of the invention may be devised withoutdeparting from the basic scope thereof, and the scope thereof isdetermined by the claims that follow.

1. A method of locating position of a remote receiver, comprising:obtaining satellite navigation data that is accurate for longer thanbroadcast satellite tracking data at said remote receiver; detectingsatellite positioning system (SPS) satellites; determining pseudorangesfrom said remote receiver to said detected SPS satellites; and computingposition of said remote receiver using said pseudoranges and saidsatellite navigation data that is accurate for longer than broadcastsatellite tracking data at said remote receiver.
 2. The method of claim1, wherein said step of detecting comprises at least one of: usingacquisition assistance data computed using a previously computedposition to detect said SPS satellites; and performing a blind search todetect said SPS satellites.
 3. The method of claim 1, wherein saidsatellite navigation data that is accurate for longer than broadcastsatellite tracking data is received at said remote receiver from aserver.
 4. The method of claim 1, wherein said satellite navigation datathat is accurate for longer than broadcast satellite tracking data isgenerated by said remote receiver.
 5. The method of claim 1, whereinsaid step of determining pseudoranges comprises: measuringsub-millisecond pseudoranges to said detected SPS satellites; decoding atime-of-week (TOW) value transmitted by at least one of said detectedSPS satellites; and resolving integer-millisecond portions of saidsub-millisecond pseudoranges to produce said pseudoranges using said TOWvalue.
 6. The method of claim 1, wherein said step of determiningpseudoranges comprises: measuring sub-millisecond pseudoranges to saiddetected SPS satellites; measuring pseudorange rates with respect tosaid detected SPS satellites; calculating a position estimate of saidremote receiver using said pseudorange rates; and resolvinginteger-millisecond portions of said sub-millisecond pseudoranges usingsaid position estimate to produce said pseudoranges.
 7. The method ofclaim 6, wherein said step of computing comprises: obtaining atime-of-day estimate; relating said sub-millisecond pseudoranges to aplurality of position and time variables using said satellite navigationdata that is accurate for longer than broadcast satellite tracking data,said time-of-day estimate, and said position estimate; and solving forone or more of said position and time variables to determine saidposition.
 8. The method of claim 1, wherein said step of determiningpseudoranges comprises: measuring sub-millisecond pseudoranges to saiddetected SPS satellites; selecting an a-priori position from a positionspace; and resolving integer-millisecond portions of saidsub-millisecond pseudoranges using said a-priori position to producesaid pseudoranges.
 9. The method of claim 8, wherein said step ofcomputing comprises: obtaining a time-of-day estimate; relating saidsub-millisecond pseudoranges to a plurality of position and timevariables using said satellite navigation data that is accurate forlonger than broadcast satellite tracking data, said time-of-dayestimate, and said a-priori position; and solving for one or more ofsaid position and time variables to determine said position.
 10. Themethod of claim 8, further comprising: repeating said steps of selectingand resolving for at least one additional a-priori position of saidposition space in response to a determination that said position isinvalid.
 11. A method of locating position of a remote receiver,comprising: obtaining satellite navigation data that is accurate forlonger than broadcast satellite tracking data at said remote receiver;measuring sub-millisecond pseudoranges to a first plurality of SPSsatellites; measuring pseudorange rates with respect to a secondplurality SPS satellites; calculating a position estimate of said remotereceiver using said pseudorange rates; resolving integer-millisecondportions of said sub-millisecond pseudoranges using said positionestimate to produce full pseudoranges; and computing position of saidremote receiver using said full pseudoranges and said satellitenavigation data that is accurate for longer than broadcast satellitetracking data, at said remote receiver.
 12. The method of claim 11,wherein said step of computing comprises: determining whether precisetime-of-day is available; calculating said position using a time-freenavigation model in response to said precise time-of-day beingunavailable.
 13. The method of claim 12, wherein said step ofcalculating comprises: obtaining a time-of-day estimate; relating saidsub-millisecond pseudoranges to a plurality of position and timevariables using said satellite navigation data that is accurate forlonger than broadcast satellite tracking data, said time-of-dayestimate, and said position estimate; and solving for one or more ofsaid position and time variables to determine said position. 14.Apparatus for locating position, comprising: a memory for storingsatellite navigation data that is accurate for longer than broadcastsatellite tracking data; a satellite signal receiver for detectingsatellite positioning system (SPS) satellites and for determiningpseudoranges from between said satellite signal receiver and saiddetected SPS satellites; and a processor for computing position usingsaid pseudoranges and said satellite navigation data that is accuratefor longer than broadcast satellite tracking data.
 15. The apparatus ofclaim 14, wherein said satellite signal receiver is configured to detectsaid SPS satellites using at least one of: a) acquisition assistancedata computed using a previously computed position; and b) a blindsearch.
 16. The apparatus of claim 14, further comprising: acommunications transceiver for receiving said satellite navigation datathat is accurate for longer than broadcast satellite tracking data froma server.
 17. The apparatus of claim 14, wherein said satellite signalreceiver is configured to: measure sub-millisecond pseudoranges to saiddetected SPS satellites; decode a time-of-week (TOW) value transmittedby at least one of said detected SPS satellites; and resolveinteger-millisecond portions of said sub-millisecond pseudoranges toproduce said pseudoranges using said TOW value.
 18. The apparatus ofclaim 14, wherein said satellite signal receiver is configured to:measure sub-millisecond pseudoranges to at least one of said detectedSPS satellites; measure pseudorange rates with respect to at least oneof said detected SPS satellites; calculate a position estimate of saidremote receiver using said pseudorange rates; and resolveinteger-millisecond portions of said sub-millisecond pseudoranges usingsaid position estimate to produce said pseudoranges.
 19. The apparatusof claim 18, wherein said processor is configured to: obtain atime-of-day estimate; relate said sub-millisecond pseudoranges to aplurality of position and time variables using said, satellitenavigation data that is accurate for longer than broadcast satellitetracking data, said time-of-day estimate, and said position estimate;and solve for one or more of said position and time variables todetermine said position.
 20. The apparatus of claim 14, wherein saidsatellite signal receiver is configured to: measure sub-millisecondpseudoranges to said detected SPS satellites; select an a-prioriposition from a position space; and resolve integer-millisecond portionsof said sub-millisecond pseudoranges using said a-priori position toproduce said pseudoranges.
 21. The apparatus of claim 20, wherein saidprocessor is configured to: obtain a time-of-day estimate; relate saidsub-millisecond pseudoranges to a plurality of position and timevariables using said satellite navigation data that is accurate forlonger than broadcast satellite tracking data, said time-of-dayestimate, and said a-priori position; and solve for one or more of saidposition and time variables to determine said position.
 22. The methodof claim 1, wherein said satellite navigation data that is accurate forlonger than said broadcast satellite tracking data, further comprisessatellite navigation data that is accurate for longer than four hours.